Fig. 3: Multi-joint linkage deformation of a humanoid multi-joint microactuator (MJMA).
From: Light-triggered multi-joint microactuator fabricated by two-in-one femtosecond laser writing
a Simulation images of the two foci intensity from 20% to 100% and the corresponding microscope images of the bending degree of the two arms of the MJMA. θ represents the bending angle of the microjoint. b By controlling the grayscale of the focal hologram, two foci with different intensities are obtained. c As the grayscale of the hologram increases from 40% to 100%, the bending angle of the MJMA right arm increases from 4° to 31°. d Single-joint, e double-joint, and f multi-joint deformation modalities of humanoid MJMAs. The bending angles of the joints close to and far from the body are defined as θ1 and θ2. JN is denoted as joints number. g, h As the number of deformed joints increases, the total bending angle of the MJMA increases. In multiple multi-joint morphing modalities, the left and right sides of the MJMA exhibit high morphing consistency. JN represents the joint number of the microactuator. Scale bars, 20 μm. Error bars stand for the standard error (n = 3).
